Energy-Optimal Multi-Goal Motion Planning for Planar Robot Manipulators

In this work, the energy-optimal motion planning problem for planar robot manipulators with two revolute joints is studied, in which the end-effector of the robot manipulator is constrained to pass through a set of waypoints, whose sequence is not predefined. This multi-goal motion planning problem has been solved as a mixed-integer optimal control problem in which, given the dynamic model of the robot manipulator, the initial and final configurations of the robot, and a set of waypoints inside the workspace of the manipulator, one has to find the control inputs, the sequence of waypoints with the corresponding passage times, and the resulting trajectory of the robot that minimizes the energy consumption during the motion. The presence of the waypoint constraints makes this optimal control problem particularly difficult to solve. The mixed-integer optimal control problem has been converted into a mixed-integer nonlinear programming problem first making the unknown passage times through the waypoints part of the state, then introducing binary variables to enforce the constraint of passing once through each waypoint, and finally applying a fifth-degree Gauss–Lobatto direct collocation method to tackle the dynamic constraints. High-degree interpolation polynomials allow the number of variables of the problem to be reduced for a given numerical precision. The resulting mixed-integer nonlinear programming problem has been solved using a nonlinear programming-based branch-and-bound algorithm specifically tailored to the problem. The results of the numerical experiments have shown the effectiveness of the approach.     

An efficient deterministic optimization approach for rectangular packing problems

The rectangular packing problem aims to seek the best way of placing a given set of rectangular pieces within a large rectangle of minimal area. Such a problem is often constructed as a quadratic mixed-integer program. To find the global optimum of a rectangular packing problem, this study transforms the original problem as a mixed-integer linear programming problem by logarithmic transformations and an efficient piecewise linearization approach that uses a number of binary variables and constraints logarithmic in the number of piecewise line segments. The reformulated problem can be solved to obtain an optimal solution within a tolerable error. Numerical examples demonstrate the computational efficiency of the proposed method in globally solving rectangular packing problems.     

The vehicle routing problem with coupled time windows

In this article we introduce the vehicle routing problem with coupled time windows (VRPCTW), which is an extension of the vehicle routing problem with time windows (VRPTW), where additional coupling constraints on the time windows are imposed. VRPCTW is applied to model a real-world planning problem concerning the integrated optimization of school starting times and public bus services. A mixed-integer programming formulation for the VRPCTW within this context is given. It is solved using a new meta-heuristic that combines classical construction aspects with mixed-integer preprocessing techniques, and improving hit-and-run, a randomized search strategy from global optimization. Solutions for several randomly generated and real-world instances are presented.     

A mixed R&D projects and securities portfolio selection model

The business environment is full of uncertainty. Allocating the wealth among various asset classes may lower the risk of overall portfolio and increase the potential for more benefit over the long term. In this paper, we propose a mixed single-stage R&D projects and multi-stage securities portfolio selection model. Specifically, we present a bi-objective mixed-integer stochastic programming model. Moreover, we use semi-absolute deviation risk functions to measure the risk of mixed asset portfolio. Based on the idea of moments approximation method via linear programming, we propose a scenario generation approach for the mixed single-stage R&D projects and multi-stage securities portfolio selection problem. The bi-objective mixed-integer stochastic programming problem can be solved by transforming it into a single objective mixed-integer stochastic programming problem. A numerical example is given to illustrate the behavior of the proposed mixed single stage R&D projects and multi-stage securities portfolio selection model.     

Exact and approximation algorithms for a soft rectangle packing problem

We consider the problem of finding an arrangement of rectangles with given areas that minimizes the total length of all inner and outer border lines. We present a polynomial time approximation algorithm and derive an upper bound estimation on its approximation ratio. Furthermore, we give a formulation of the problem as mixed-integer nonlinear program and show that it can be approximatively reformulated as linear mixed-integer program. On a test set of problem instances, we compare our approximation algorithm with another one from the literature. Using a standard numerical mixed-integer linear solver, we show that adding the solutions from the approximation algorithm as advanced starter helps to reduce the overall solution time for proven global optimality, or gives better primal and dual bounds if a certain time-limit is reached before.     

A dynamic uncapacitated lot-sizing problem with co-production

We consider an extension of the dynamic uncapacitated lot-sizing problem to account for co-production, where multiple products are produced simultaneously in a single production run. We formulate the problem as a mixed-integer linear programming problem. We then show that a variant of the well-known zero-inventory property holds for this problem, and use this property to extend a dynamic program given for the single-item lot-sizing to solve the problem with co-production. Finally, we provide an illustrative example for our approach.     

Extensions to a Lagrangean relaxation approach for the capacitated warehouse location problem

In this paper we present a lower bound for the capacitated warehouse location problem based upon the Lagrangean relaxation of a mixed-integer formulation of the problem, where we use subgradient optimisation in an attempt to maximise this lower bound. Problem reduction tests based upon this lower bound and the original problem are given. Incorporating this bound and the reduction tests into a tree search procedure enables us to solve problems involving up to 50 warehouses and 150 customers.     

A simple plant-location model for quantity-setting firms subject to price uncertainty

The uncapacitated plant location problem under uncertainty is formulated in a mean-variance framework with prices in various markets correlated via their response to a common random factor. This formulation results in a mixed-integer quadratic programming problem. However, for a given integer solution, the resulting quadratic programming problem is amenable to a very simple solution procedure. The simplicity of this algorithm means that reasonably large problems should be solvable using existing branch-and-bound techniques.     

Direct methods with maximal lower bound for mixed-integer optimal control problems

Many practical optimal control problems include discrete decisions. These may be either time-independent parameters or time-dependent control functions as gears or valves that can only take discrete values at any given time. While great progress has been achieved in the solution of optimization problems involving integer variables, in particular mixed-integer linear programs, as well as in continuous optimal control problems, the combination of the two is yet an open field of research. We consider the question of lower bounds that can be obtained by a relaxation of the integer requirements. For general nonlinear mixed-integer programs such lower bounds typically suffer from a huge integer gap. We convexify (with respect to binary controls) and relax the original problem and prove that the optimal solution of this continuous control problem yields the best lower bound for the nonlinear integer problem. Building on this theoretical result we present a novel algorithm to solve mixed-integer optimal control problems, with a focus on discrete-valued control functions. Our algorithm is based on the direct multiple shooting method, an adaptive refinement of the underlying control discretization grid and tailored heuristic integer methods. Its applicability is shown by a challenging application, the energy optimal control of a subway train with discrete gears and velocity limits.      

A global optimization approach for solving three-dimensional open dimension rectangular packing problems

The three-dimensional open dimension rectangular packing problem (3D-ODRPP) aims to pack a set of given rectangular boxes into a large rectangular container of minimal volume. This problem is an important issue in the shipping and moving industries. All the boxes can be any rectangular stackable objects with different sizes and may be freely rotated. The 3D-ODRPP is usually formulated as a mixed-integer non-linear programming problem. Most existing packing optimization methods cannot guarantee to find a globally optimal solution or are computationally inefficient. Therefore, this paper proposes an efficient global optimization method that transforms a 3D-ODRPP as a mixed-integer linear program using fewer extra 0–1 variables and constraints compared to existing deterministic approaches. The reformulated model can be solved to obtain a global optimum. Experimental results demonstrate the computational efficiency of the proposed approach in globally solving 3D-ODRPPs drawn from the literature and the practical applications.     

Optimal operating strategy for a long-haul liner service route

This paper proposes an optimal operating strategy problem arising in liner shipping industry that aims to determine service frequency, containership fleet deployment plan, and sailing speed for a long-haul liner service route. The problem is formulated as a mixed-integer nonlinear programming model that cannot be solved efficiently by the existing solution algorithms. In view of some unique characteristics of the liner shipping operations, this paper proposes an efficient and exact branch-and-bound based ε-optimal algorithm. In particular, a mixed-integer nonlinear model is first developed for a given service frequency and ship type; two linearization techniques are subsequently presented to approximate this model with a mixed-integer linear program; and the branch-and-bound approach controls the approximation error below a specified tolerance. This paper further demonstrates that the branch-and-bound based ε-optimal algorithm obtains a globally optimal solution with the predetermined relative optimality tolerance ε in a finite number of iterations. The case study based on an existing long-haul liner service route shows the effectiveness and efficiency of the proposed solution method.     

Optimality-based bound contraction with multiparametric disaggregation for the global optimization of mixed-integer bilinear problems

We address nonconvex mixed-integer bilinear problems where the main challenge is the computation of a tight upper bound for the objective function to be maximized. This can be obtained by using the recently developed concept of multiparametric disaggregation following the solution of a mixed-integer linear relaxation of the bilinear problem. Besides showing that it can provide tighter bounds than a commercial global optimization solver within a given computational time, we propose to also take advantage of the relaxed formulation for contracting the variables domain and further reduce the optimality gap. Through the solution of a real-life case study from a hydroelectric power system, we show that this can be an efficient approach depending on the problem size. The relaxed formulation from multiparametric formulation is provided for a generic numeric representation system featuring a base between 2 (binary) and 10 (decimal).     

Linear regularity, equirregularity, and intersection mappings for convex semi-infinite inequality systems

We study the mixed-integer rounding (MIR) closures of polyhedral sets. The MIR closure of a polyhedral set is equal to its split closure and the associated separation problem is NP-hard. We describe a mixed-integer programming (MIP) model with linear constraints and a non-linear objective for separating an arbitrary point from the MIR closure of a given mixed-integer set. We linearize the objective using additional variables to produce a linear MIP model that solves the separation problem exactly. Using a subset of these additional variables yields an MIP model which solves the separation problem approximately, with an accuracy that depends on the number of additional variables used. Our analysis yields an alternative proof of the result of Cook et al. (1990) that the split closure of a polyhedral set is again a polyhedron. We also discuss a heuristic to obtain MIR cuts based on our approximate separation model, and present some computational results. Andrea Lodi was supported in part by the EU projects ADONET (contract n. MRTN-CT-2003-504438) and ARRIVAL (contract n. FP6-021235-2).     

Global optimization of mixed-integer bilevel programming problems

Two approaches that solve the mixed-integer nonlinear bilevel programming problem to global optimality are introduced. The first addresses problems mixed-integer nonlinear in outer variables and C²-nonlinear in inner variables. The second adresses problems with general mixed-integer nonlinear functions in outer level. Inner level functions may be mixed-integer nonlinear in outer variables, linear, polynomial, or multilinear in inner integer variables, and linear in inner continuous variables. This second approach is based on reformulating the mixed-integer inner problem as continuous via its vertex polyheral convex hull representation and solving the resulting nonlinear bilevel optimization problem by a novel deterministic global optimization framework. Computational studies illustrate proposed approaches.     

Site Location via Mixed-integer Programming

It is demonstrated that mixed-integer programming can be applied successfully to the solution of certain practical site location problems. A mixed-integer model of a frequently occurring form of warehouse location problem is presented. Experience with models of this type is described with examples of computational performance. The flexibility of mixed-integer models and the approach to their use as aids to decision-making are discussed.     

How tight is the corner relaxation? Insights gained from the stable set problem

The corner relaxation of a mixed-integer linear program is a central concept in cutting plane theory. In a recent paper Fischetti and Monaci provide an empirical assessment of the strength of the corner and other related relaxations on benchmark problems. In this paper we give a precise characterization of the bounds given by these relaxations for the edge formulation of the maximum stable set problem in a graph.     

Semidefinite relaxations for non-convex quadratic mixed-integer programming

We present semidefinite relaxations for unconstrained non-convex quadratic mixed-integer optimization problems. These relaxations yield tight bounds and are computationally easy to solve for medium-sized instances, even if some of the variables are integer and unbounded. In this case, the problem contains an infinite number of linear constraints; these constraints are separated dynamically. We use this approach as a bounding routine in an SDP-based branch-and-bound framework. In case of a convex objective function, the new SDP bound improves the bound given by the continuous relaxation of the problem. Numerical experiments show that our algorithm performs well on various types of non-convex instances.     

Integer and mixed-integer programming models: General properties

It is well known that mixed-integer formulations can be used tomodel important classes of nonconvex functions, such as fixed-charge functions and linear economy-of-scale cost functions. The purpose of this paper is to formulate a rigorous definition of a mixed-integer model of a given function and to study the properties of the functions that can be so modelled. An interesting byproduct of this approach is the identification of a simple class of functions that cannot be modelled by computer-representable mixed-integer formulations, even though mixed-integer models based on the use of a single arbitrary irrational constant are available for this class.This research was sponsored by the United States Army under Contract No. DA-31-124-ARO-D-462.     

Optimal solutions for the double row layout problem

The double row layout problem is how to allocate a given set of n machines on both sides of a straight line corridor so that the total cost of transporting materials between machines is minimized. This is a very difficult combinatorial optimization problem with important applications in industry. We formulate the problem as a mixed-integer program. Computational tests show that the proposed formulation presents a far superior performance than that of a previously published model.